Last change
on this file since 37 was
37,
checked in by (none), 14 years ago
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Added original make3d
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Property svn:executable set to
*
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File size:
578 bytes
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[37] | 1 | function R = vgg_quat_rotation_matrix(q)
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| 2 | % vgg_quat_rotation_matrix Generates rotation matrix from quaternion
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| 3 | % R = vgg_quat_rotation_matrix(q)
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| 4 |
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| 5 | q00 = q(1)*q(1);
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| 6 | q0x = q(1)*q(2);
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| 7 | q0y = q(1)*q(3);
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| 8 | q0z = q(1)*q(4);
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| 9 | qxx = q(2)*q(2);
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| 10 | qxy = q(2)*q(3);
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| 11 | qxz = q(2)*q(4);
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| 12 | qyy = q(3)*q(3);
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| 13 | qyz = q(3)*q(4);
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| 14 | qzz = q(4)*q(4);
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| 15 |
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| 16 | R = [ q00 + qxx - qyy - qzz 2*(qxy - q0z) 2*(qxz + q0y)
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| 17 | 2*(qxy + q0z) q00 - qxx + qyy - qzz 2*(qyz - q0x)
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| 18 | 2*(qxz - q0y) 2*(qyz + q0x) q00 - qxx - qyy + qzz ];
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